WO2023029695A1 - Système de positionnement, procédé de positionnement, système de chirurgie interventionnelle, dispositif électronique et support de stockage - Google Patents

Système de positionnement, procédé de positionnement, système de chirurgie interventionnelle, dispositif électronique et support de stockage Download PDF

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WO2023029695A1
WO2023029695A1 PCT/CN2022/101428 CN2022101428W WO2023029695A1 WO 2023029695 A1 WO2023029695 A1 WO 2023029695A1 CN 2022101428 W CN2022101428 W CN 2022101428W WO 2023029695 A1 WO2023029695 A1 WO 2023029695A1
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Prior art keywords
information
voltage
electrode
distance
magnetic field
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PCT/CN2022/101428
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English (en)
Chinese (zh)
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王彦磊
王心怡
孙毅勇
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上海微创电生理医疗科技股份有限公司
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Publication of WO2023029695A1 publication Critical patent/WO2023029695A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A61B2034/2053—Tracking an applied voltage gradient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a positioning system, a positioning method, an interventional operation system, electronic equipment and a storage medium of an interventional device.
  • the first and second coordinate systems are defined based on the electric field and magnetic field, respectively.
  • the magnetic field sensor on the catheter is close to the electrode, and the mapping function is used to associate the position of the magnetic field sensor in the first coordinate system with the position of the magnetic field sensor in the second coordinate system. Afterwards, according to the mapping position of the magnetic field sensor in the first coordinate system, the positions of the electrodes are adjusted and calibrated accordingly.
  • the purpose of the present invention is to provide a positioning system, a positioning method, an interventional surgery system, electronic equipment and a storage medium for an interventional device, which can locate and track the interventional device in the target object, reduce the calculation amount of positioning, and save time and cost.
  • the present invention provides a positioning system for an interventional device, the interventional device includes a learning tool and an application tool, and the learning tool and the application tool are used to be placed in a target area of a target object;
  • the positioning system includes: a magnetic field generating unit, an excitation control unit, a data acquisition unit and a controller;
  • the magnetic field generating unit is used to generate a magnetic field passing through the target object
  • the excitation control unit is configured to generate an N-axis electric field in the target object by applying excitation between at least three electrode patches arranged on the surface of the target object, N ⁇ 3;
  • the controller is used to divide the target area into a plurality of sub-areas
  • the data collection unit is used to synchronously collect the magnetic field strength information at the first point on the learning appliance, the magnetic field strength information at the electrode patch, and the The voltage information of the second point on the learning appliance relative to a reference position under the excitation state; The voltage information of the third position relative to the reference position;
  • the controller is further configured to, in the fitting phase, in each of the sub-regions, according to the magnetic field strength information of the first point and the space between the first point and the second point
  • the distance information calculates the spatial position information of the second site, and according to the voltage information of the second site relative to the reference position under different excitation states and the distance between the second site and the electrode patch distance information between each sub-region to obtain a fitting model for describing the mapping relationship between voltage and distance; and, in the positioning phase, according to the relative
  • the voltage information of the position and the sub-region information where the application appliance is located are calculated by using the fitting model of the corresponding sub-region and the spatial position information of the electrode patch to obtain the spatial position information of the third site, wherein, The spatial position information of the electrode patch is calculated according to the magnetic field strength information at the electrode patch.
  • the controller is configured to combine the voltage information of the second position relative to the reference position under different excitation states and the distance information between the second position and the electrode patch into a second A type of voltage-distance data pair, and performing fitting to obtain a fitting model for describing the mapping relationship between voltage and distance under different excitation states in each of the sub-regions.
  • the controller is configured to calculate distance information between the third site and at least three electrode patches by using the fitting model under different excitation states in the corresponding sub-region, and according to the The distance information between the third site and the at least three electrode patches and the spatial position information of the at least three electrode patches are used to calculate the spatial position information of the third site.
  • the controller is configured to, in the fitting phase, for each of the electrode patches, compare the position of the second position in different excitation states related to the electrode patch relative to the reference position
  • the voltage information and the distance information between the second site and the electrode patch form a first type of voltage-distance data pair, and are fitted to obtain in each of the sub-regions, each of the A fitted model of the electrode patch under different excitation states associated with it;
  • the distance information between the third site and the electrode patch is calculated by using the fitting model corresponding to the electrode patch in the sub-region where the application instrument is located.
  • the controller is configured to select a fitting model satisfying a first preset condition as a target fitting model from all fitting models corresponding to the electrode patch in different excitation states related thereto, And according to the target fitting model, calculate the distance information between the third site and the electrode patch.
  • the controller is configured to select at least three electrode patches satisfying the second preset condition from all the electrode patches as target electrode patches, and use the simulated
  • the distance information between the third site and each of the target electrode patches is calculated by combining the model, and the spatial position information of the third site is calculated according to the spatial position information of each of the target electrode patches.
  • the application device also includes a fourth site
  • the data collection unit is also used to synchronously collect the magnetic field strength information of the fourth location during the positioning phase;
  • the controller is also used to calculate the spatial position and direction information of the fourth position according to the magnetic field strength information of the fourth position in the positioning stage, and obtain the spatial position and direction information of the fourth position according to the spatial position and direction of the fourth position information to obtain information about the sub-area where the appliance is located.
  • a fifth point is also provided on the application device.
  • the data collection unit is also used to synchronously collect the voltage information of the fifth position relative to the reference position in all excitation states during the positioning phase;
  • the controller is further configured to calculate the fifth position according to the spatial position and direction information of the fourth position and the spatial distance information between the fourth position and the fifth position during the positioning phase Point spatial location information, and according to the spatial location information of the fifth location and the spatial location information of the electrode patch, calculate the distance information between the fifth location and the electrode patch, and
  • the voltage information of the fifth position relative to the reference position under different excitation states and the distance information between the fifth position and the electrode patch form a second type of voltage-distance data pair, and use The second type of voltage-distance data pair updates the fitting model of the corresponding sub-region.
  • the learning appliance and the application appliance are the same appliance, the fourth location is the same location as the first location, and the fifth location is the same location as the second location site.
  • the controller is further configured to combine the voltage information of the third position relative to the reference position under different excitation states and the distance information between the third position and the electrode patch A third type of voltage-distance data pair, screening out effective data pairs from the third type of voltage-distance data pair, and using the effective data pair to update the fitting model of the corresponding sub-region.
  • the excitation control unit is used to apply excitation among the at least three electrode patches and perform continuous high-speed switching between all excitation states, and the data acquisition unit collects the first electrode patch in all excitation states. voltage information of the second site and the third site relative to the reference position; or
  • the excitation control unit is used to simultaneously apply excitation among the at least three electrode patches, but the frequency of the applied excitation is different from each other, and the data acquisition unit collects the second position and the third position and filtering the voltage information relative to the reference position to obtain the voltage information of the second position and the third position relative to the reference position under all excitation states; or
  • the excitation control unit is used to simultaneously apply excitation among the at least three electrode patches, but the frequency of the applied excitation is different from each other, and the data acquisition unit collects the second position and the third position Relative to the voltage information of the reference position, the controller is configured to filter the voltage information of the second position and the third position collected by the data acquisition unit relative to the reference position to obtain Voltage information of the second site and the third site relative to the reference position in all excitation states.
  • the positioning system further includes a communication control unit for connecting the controller with the magnetic field generating unit, the excitation control unit, and the data acquisition unit to control the controller and the magnetic field communication and data transmission between the generation unit, the excitation control unit, and the data collection unit.
  • a communication control unit for connecting the controller with the magnetic field generating unit, the excitation control unit, and the data acquisition unit to control the controller and the magnetic field communication and data transmission between the generation unit, the excitation control unit, and the data collection unit.
  • the positioning system further includes a display unit communicatively connected with the controller, the display unit is used to display the position, direction, shape and/or motion profile.
  • the first position is provided with a first magnetic field sensor
  • the electrode patch is provided with a second magnetic field sensor
  • the data acquisition unit collects the data of the first position through the first magnetic field sensor.
  • Magnetic field strength information collecting the magnetic field strength information at the electrode patch through the second magnetic field sensor;
  • the second position is provided with a first voltage sensor
  • the third position is provided with a second voltage sensor
  • the data acquisition unit collects the relative voltage of the second position relative to the reference through the first voltage sensor.
  • the voltage information of the location, the voltage information of the third location relative to the reference location is collected by the second voltage sensor.
  • the present invention also provides an interventional operation system, comprising the above-mentioned positioning system for an interventional device and the interventional device.
  • the present invention also provides a positioning method for an interventional device, including that the interventional device includes a learning tool and an application tool, and the learning tool and the application tool are used to be placed in the target area of the target object.
  • the positioning methods described include:
  • the magnetic field strength information of the first point on the learning appliance and the magnetic field strength at at least three electrode patches set on the surface of the target object that are collected synchronously in each sub-region are acquired Information, the voltage information of the second point on the learning appliance relative to a reference position under all excitation states, according to the magnetic field strength information of the first point and the relationship between the first point and the second
  • the spatial distance information between the points is used to calculate the spatial position information of the second point, and according to the voltage information of the second point relative to the reference position under different excitation states and the relationship between the second point and the
  • the distance information between the electrode patches is obtained to obtain a fitting model for describing the mapping relationship between voltage and distance for each of the sub-regions;
  • the voltage information of the third point on the application instrument relative to the reference position, the information of the sub-region where the application instrument is located, and the space of the electrode patch that are synchronously collected under different excitation states are acquired Position information, using the fitting model of the corresponding sub-region and the spatial position information of the electrode patch to calculate the spatial position information of the third site, wherein the spatial position information of the electrode patch is based on the The magnetic field strength information at the electrode patch is calculated.
  • each of the The fitting model used to describe the mapping relationship between voltage and distance in the above sub-regions including:
  • each of the The fitting model used to describe the mapping relationship between voltage and distance in the above sub-regions including:
  • the voltage information of the second position relative to the reference position under different excitation states related to the electrode patch and the relationship between the second position and the electrode patch The distance information between the patches forms the first type of voltage-distance data pair, and is fitted to obtain the fitting of each of the electrode patches in different excitation states related to each of the sub-regions Model.
  • calculating the spatial position information of the third site by using the fitting model of the corresponding sub-region and the spatial position information of the electrode patch includes:
  • the spatial position information of the third position is calculated according to the distance information between the third position and the electrode patch and the spatial position information of the electrode patch.
  • calculating the distance information between the third site and the electrode patch by using the fitting model corresponding to the electrode patch corresponding to the sub-region includes:
  • calculating the spatial position information of the third site by using the fitting model of the corresponding sub-region and the spatial position information of the electrode patch includes:
  • the application tool also includes a fourth point
  • the positioning method also includes:
  • the magnetic field strength information of the fourth point is obtained, and the spatial position and direction information of the fourth point is calculated according to the magnetic field strength information of the fourth point, and according to the fourth point
  • the spatial position and direction information of the application appliance is obtained to obtain the information of the sub-area where the appliance is located.
  • the application tool also includes a fifth point
  • the positioning method also includes:
  • the voltage information of the fifth position relative to the reference position that is synchronously collected under all excitation states is obtained, and according to the spatial position and direction information of the fourth position and the relationship between the fourth position and the calculating the spatial position information of the fifth position based on the spatial distance information between the fifth positions, and calculating the The distance information between the fifth position and the electrode patch, and the voltage information of the fifth position relative to the reference position under different excitation states and the distance between the fifth position and the electrode patch
  • the distance information between slices forms a second type of voltage-distance data pair, and the fitting model of the corresponding sub-region is updated using the second type of voltage-distance data pair.
  • the positioning method also includes:
  • the present invention also provides an electronic device, including a processor and a memory, and a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned interventional device can be realized. positioning method.
  • the present invention also provides a readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method for locating an interventional device as described above is implemented.
  • the positioning system, positioning method, interventional operation system, electronic equipment and storage medium of the interventional device provided by the present invention have the following advantages: the present invention divides the target area into multiple sub-areas, and in the fitting stage A learning tool is used to obtain a fitting model for describing the mapping relationship between voltage and distance for each sub-region.
  • the present invention divides the target area into a plurality of sub-areas, and establishes a fitting model for each sub-area respectively. Since the electric field is linear in a local small area, through these fitting models, the first The distance between the three points and the electrode patch, and then realize the positioning calculation. In addition, since the present invention establishes a fitting model for each sub-region separately, the amount of calculation for fitting is small, which can effectively reduce the amount of calculation and save time and cost.
  • FIG. 1 is a schematic diagram of working modules of a positioning system of an interventional device in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the use flow of the positioning device shown in FIG. 1;
  • FIG. 3 is a schematic flow diagram of a positioning algorithm implementation in an embodiment of the present invention.
  • Fig. 4a is a schematic structural diagram of a loop catheter in an embodiment of the present invention.
  • Fig. 4b is a schematic diagram of the arrangement of each sensor (position) in the annular catheter shown in Fig. 4a;
  • Fig. 4c is a schematic diagram of the positioning result of the annular catheter shown in Fig. 4a at a certain moment;
  • FIG. 5 is a schematic diagram of division of target areas in an embodiment of the present invention.
  • Figures 6a to 6e are schematic diagrams of scatter points of voltage-distance data pairs accumulated in a certain sub-region under different excitation states in a certain fitting stage;
  • FIG. 7 is a schematic diagram of the distance between the second site and each electrode patch in an embodiment of the present invention.
  • FIG. 8 is a schematic block diagram of an electronic device in an embodiment of the present invention.
  • Magnetic field generation unit-10 excitation control unit-20; data acquisition unit-30; controller-40; communication control unit-50;
  • Processor-301 communication interface-302; memory-303; communication bus-304.
  • the core idea of the present invention is to provide a positioning system, a positioning method, an interventional surgery system, electronic equipment and a storage medium for an interventional device, which can locate and track the interventional device in the target object, reduce the calculation amount of positioning, and save time and cost.
  • the electronic device in the embodiment of the present invention may be a personal computer, a mobile terminal, etc.
  • the mobile terminal may be a hardware device with various operating systems, such as a mobile phone and a tablet computer.
  • the present invention provides a positioning system of an interventional device, the interventional device includes a learning tool and an application tool, and the learning tool and the application tool are used to be placed in a target area of a target object.
  • the positioning system includes a magnetic field generating unit, an excitation control unit, a data acquisition unit and a controller.
  • the magnetic field generating unit is used to generate a magnetic field passing through the target object.
  • the excitation control unit is configured to generate an N-axis electric field in the target object by applying excitation between at least three electrode patches arranged on the surface of the target object, where N ⁇ 3.
  • the controller is used for dividing the target area into a plurality of sub-areas.
  • the data collection unit is used to synchronously collect the magnetic field strength information at the first point on the learning appliance, the magnetic field strength information at the electrode patch, and the The voltage information of the second point on the learning appliance relative to a reference position under the excitation state; The voltage information of the third position relative to the reference position.
  • the controller is further configured to, in the fitting phase, in each of the sub-regions, according to the magnetic field strength information of the first point and the space between the first point and the second point
  • the distance information calculates the spatial position information of the second site, and according to the voltage information of the second site relative to the reference position under different excitation states and the distance between the second site and the electrode patch distance information between each sub-region to obtain a fitting model for describing the mapping relationship between voltage and distance; and, in the positioning phase, according to the relative The voltage information of the position and the sub-region information where the application appliance is located, using the fitting model of the corresponding sub-region and the spatial position information of the electrode patch to calculate the spatial position information of the third site, wherein the The spatial position information of the electrode patch is calculated according to the magnetic field strength information at the electrode patch.
  • the positioning system of the present invention is divided into a fitting phase and a positioning phase when used, and divides the target area into a plurality of sub-areas, wherein a learning tool is used in the fitting phase to obtain the voltage used to describe each sub-area- A fitted model for the mapping relationship between distances. Then in the positioning stage, the distance between the third site on the application tool and the electrode patch is obtained based on the fitting model of the sub-region where the application tool is located, according to the distance between the third site and the electrode patch and the spatial position information of the electrode patch, that is, the position of the third point can be obtained, so as to realize the positioning of the application device, and further determine the position of the application device in the target area of the target object , orientation, and shape information.
  • the present invention divides the target area into a plurality of sub-areas, and establishes a fitting model for each sub-area respectively. Since the electric field is linear in a local small area, through these fitting models, the first The distance between the three points and the electrode patch, and then realize the positioning calculation. In addition, since the present invention establishes a fitting model for each sub-region separately, the amount of calculation for fitting is small, which can effectively reduce the amount of calculation and save time and cost. It should be noted that, as those skilled in the art can understand, specifically, the spatial position information of the second site is firstly calculated based on the magnetic field strength information of the first site to obtain the spatial position of the first site.
  • the position and direction information is calculated according to the spatial position and direction information of the first position and the spatial distance information between the first position and the second position, and the second position and the The distance information between the electrode patches is calculated according to the spatial position information of the second site and the spatial position information of the electrode patches.
  • the controller is used to compose the voltage information of the second position relative to the reference position under different excitation states and the distance information between the second position and the electrode patch into a first class voltage-distance data pairs, and perform fitting to obtain a fitting model for describing the mapping relationship between voltage and distance under different excitation states in each of the sub-regions.
  • the voltage information of the second site relative to the reference position under different excitation states and the distance information between the second site and the electrode patch are composed of a first type of voltage-distance Fitting the data pairs can quickly and accurately obtain the fitting model under different excitation states in each sub-region.
  • the controller is used to calculate the distance information between the third site and at least three electrode patches by using the fitting model under different excitation states in the corresponding sub-region, and according to the The distance information between the third site and the at least three electrode patches and the spatial position information of the at least three electrode patches are used to calculate the spatial position information of the third site. Therefore, the present invention calculates the third position according to the distance information between the third position and the at least three electrode patches and the spatial position information of the at least three electrode patches. The spatial position information of the third position can further improve the calculation accuracy of the spatial position information of the third point.
  • FIG. 1 schematically shows a working module diagram of a positioning system of an interventional device provided by an embodiment of the present invention.
  • a target object 100 is an application object of the positioning system in the present invention, and may be a person, an animal or other suitable conductive objects.
  • the target area 101 represents the area where the end of the interventional device 105 inside the target object 100 is located, such as a cardiac cavity.
  • the interventional device 105 may be various medical catheters, such as electrophysiological catheters, multi-limb catheters or loop catheters for ablation or mapping, or other implanted devices in the body.
  • the interventional device 105 is an electrophysiological catheter, it is generally used for diagnosis or treatment, such as electrocardiographic mapping or delivery of ablation energy.
  • the interventional device 105 shown in FIG. 1 is an electrophysiological catheter, and generally reaches a target area 101 through a vascular access, such as a heart cavity.
  • the end of the interventional device 105 can be fixed or adjustable; the part of the interventional device 105 left outside the body generally has an operating handle 106 through which the doctor can control the shape or orientation of the end of the interventional device 105 .
  • the interventional device 105 is equipped with two types of sensors, including a magnetic field sensor (hereinafter referred to as the first magnetic field sensor 103P) and a voltage sensor (that is, a common electrode, hereinafter referred to as the electrode 104) , specifically, a first magnetic field sensor 103P is assembled at a first position on the interventional device, a first voltage sensor (hereinafter referred to as the first electrode 104S) is assembled at a second position, and a second voltage sensor is assembled at a third position. sensor (hereinafter referred to as the second electrode 104T).
  • the signals sensed by the first magnetic field sensor 103P and the electrodes 104 are transmitted to the data acquisition unit 30 through wires inside the interventional device 105 . Any one of the first magnetic field sensor 103P, the first voltage sensor, and the second voltage sensor may be one or more.
  • the interventional device 105 may include a learning appliance and an application appliance, and both the learning appliance and the application appliance are required to be equipped with at least one first magnetic field sensor 103P (information on the sub-area where the application appliance is in the positioning stage) Determined by the first magnetic field sensor 103P installed thereon), in addition, the learning appliance is also equipped with at least one first electrode 104S with a fixed and known distance from the first magnetic field sensor 103P, and the application appliance is also equipped with a number a second electrode 104T to be positioned.
  • the application device and the learning device can be the same device.
  • the interventional device 105 can include two catheters, which are respectively learning catheters (i.e. Learning device) and application catheter (i.e. application device), the interventional device may only contain one catheter, and this medical catheter may be used as both a learning catheter and an application catheter.
  • the interventional device may also include at least three catheters, one or more of which are used as learning catheters, and the rest are application catheters, which are all reasonable, and the present invention is not limited thereto.
  • the following takes the intervention device 105 as a medical catheter as an example for introduction.
  • a medical catheter it is assumed that there is a first magnetic field sensor 103P on the medical catheter, a first electrode 104S with a fixed and known distance from the first magnetic field sensor 103P, and several other second electrodes 104T to be positioned.
  • the medical catheter is used both as a learning catheter and as an application catheter.
  • the distance is the Euclidean distance in three-dimensional space. In this way, the position information of the first electrode 104S can be calculated based on the spatial position and direction information of the first magnetic field sensor 103P, and the position information of the second electrode 104T needs to be obtained through the positioning method described in the present invention.
  • the first position on the medical catheter of the present invention is the position where the first magnetic field sensor 103P is located
  • the second position is the position where the first electrode 104S is located
  • the third position is the position where the first electrode 104S is located.
  • the point is the position where the second electrode 104T is located, so calculating the spatial position of the second point and the third point is to calculate the spatial position of the first electrode 104S and the second electrode 104T .
  • the magnetic field sensor generally includes several coils, which can be used to sense the strength of the magnetic field at its location, and the magnetic field is excited by the magnetic field generating unit 10 .
  • the controller 40 can calculate the spatial position information and direction information of the magnetic field sensor based on the magnetic field intensity information sensed by the magnetic field sensor.
  • the specific calculation method belongs to the category of magnetic positioning technology, and reference can be made to the existing technology, which will not be repeated here.
  • the spatial position information generally refers to three coordinate values of x, y and z in a three-dimensional Cartesian coordinate system.
  • the direction information refers to the direction vector of the magnetic field sensor, more generally, its unit direction vector.
  • the electrode 104 (that is, the voltage sensor) is a metal with good biocompatibility, such as platinum-iridium alloy and gold.
  • the electrodes 104 are used to measure the voltage at their location relative to some reference location.
  • the reference position (not shown in FIG. 1 ) is generally a relatively stable position, which can be a certain position on the body surface or a certain position in the body (such as the coronary sinus).
  • a reference electrode is placed at the reference location (such as the coronary sinus).
  • electrodes 104 may also be used to measure electrophysiological signals or release ablation energy.
  • the magnetic field generating unit 10 is used to generate a magnetic field 107 and is generally fixed near the target object 100 . Thus the magnetic field 107 generated by it can pass through the target object 100 .
  • the magnetic field 107 can be sensed by a magnetic field sensor to locate the spatial position and orientation of the magnetic field sensor.
  • the electrodes attached to the surface of the target object 100 are generally sheet-shaped (in order to distinguish them from the above-mentioned electrodes 104 on the medical catheter, hereinafter referred to as "electrode patches 102"), and the number of them is generally not less than three.
  • the excitation control unit 20 can apply a specific electric field to the human body through any two electrode patches 102 , that is, apply an excitation, preferably a constant current or constant voltage signal; preferably, the applied current flows through the target area 101 .
  • the excitation control unit 20 will select multiple pairs of electrode patches 102 in the electrode patches 102 to apply excitation, and the data acquisition unit 30 will collect all the excitation states at the same sampling moment, each electrode 104 (including 104S and 104T) on the medical catheter The voltage value relative to the reference position is used for subsequent positioning calculations.
  • each of the electrode patches 102 is equipped with a magnetic field sensor (for ease of distinction, the magnetic field sensor on the electrode patch 102 is called the second magnetic field sensor 103Q), which is used to provide spatial position information, that is, the controller can Calculate the spatial position information of the second magnetic field sensor 103Q based on the magnetic field strength information sensed by the second magnetic field sensor 103Q on each electrode patch 102, and use the spatial position information of the second magnetic field sensor 103Q as the electrode patch 102 spatial location information.
  • the controller can Calculate the spatial position information of the second magnetic field sensor 103Q based on the magnetic field strength information sensed by the second magnetic field sensor 103Q on each electrode patch 102, and use the spatial position information of the second magnetic field sensor 103Q as the electrode patch 102 spatial location information.
  • the same sampling moment refers to the moment when the magnetic field strength data of the magnetic field sensors (including the first magnetic field sensor 103P and the second magnetic field sensor 103Q) and the voltage information of each electrode 104 relative to the reference position are collected, that is, the data acquisition unit 30 needs Collect magnetic field strength data and voltage information at the same sampling time.
  • the excitation state refers to the state in which the excitation control unit 20 applies current to the human body through certain two electrode patches 102 (a pair of electrode patches), and can also be called an excitation axis.
  • N it can be considered that the excitation control unit 20 generates an N-axis electric field in the target object 100 by applying excitation to the N pairs of electrode patches 102 .
  • the position of the electrode patch 102 on the body surface is generally fixed throughout the operation.
  • the excitation control unit 20 Excitement is applied among the at least three electrode patches 102 and high-speed switching is performed between all excitation states, and the data acquisition unit 30 collects the second position and the third position in all excitation states voltage information of a point (i.e., each electrode 104) relative to a reference position; or,
  • the excitation control unit 20 applies excitation to the at least three electrode patches 102 at the same time, but the frequency of the excitation applied is different from each other, and the data acquisition unit 30 collects the second position and the third position point (that is, each electrode 104) with respect to the voltage information of the reference position and filter processing to obtain the voltage information of the second position and the third position (that is, each electrode 104) relative to the reference position under all excitation states voltage information; or,
  • the excitation control unit 20 applies excitation to the at least three electrode patches 102 at the same time, but the frequency of the excitation applied is different from each other, and the data acquisition unit 30 collects the second position and the third position point (that is, each electrode 104) relative to the voltage information of the reference position, the controller 40 collects the second position and the third position (that is, each electrode 104) collected by the data acquisition unit 30
  • the voltage information relative to the reference position is filtered to obtain the voltage information of the second position and the third position (that is, each electrode 104 ) relative to the reference position under all excitation states.
  • the excitation control unit 20 can select every two electrode patches 102 to apply excitation respectively, so there are 15 excitation states in total, which can also be called 15 excitation axes: RL, HF, CB, CR, CL, CH, CF, RB, LB, HB, FB, RF, LF, HR, and HL.
  • the present invention does not limit that the excitation control unit 20 must apply excitation between every two electrode patches 102, as long as the excitation is applied between N pairs of electrode patches 102, it can make the target object 100 It is sufficient to generate an N (N ⁇ 3) axis electric field in the target area 101 of the target.
  • N N ⁇ 3 axis electric field in the target area 101 of the target.
  • there may be a small current flowing through the target area 101 applied by one or more excitation axes so that the electrodes 104 in the target area 101 cannot measure this kind of The voltage values in one or more excitation states or the measured voltage values in one or more excitation states are obviously low.
  • the excitation control unit 20 can discard the one or more excitation states ( invalid excitation state), which will not be used in subsequent calculations.
  • the different excitation states involved in the calculation include n effective excitation states screened from all the excitation states, n ⁇ 3, Both N and n are natural numbers. When all excitation states are valid after screening, N can also be equal to n. Certainly, if the excitation states are not screened, then the different excitation states participating in the calculation may also include all the excitation states.
  • the time-sharing method is as follows: that is, to continuously cycle high-speed switching between 15 kinds of excitations, and to collect the voltage value of each electrode 104 relative to the reference position under all excitation states.
  • the switching frequency can be 200kHz or 300kHz.
  • the frequency division method is as follows: that is, signals of different frequencies are respectively applied to the 15 excitation axes, and then the data acquisition unit 30 or the controller 40 filters the signals collected at the electrodes 104 to obtain voltage values under all excitation states. For example, constant current/constant voltage signals of 10kHz, 10.5kHz, 11kHz, 11.5kHz, etc. can be applied respectively.
  • the method of frequency division is preferably used.
  • the data acquisition unit 30 is used to process the data transmitted by all the sensors in the positioning system, including the magnetic field sensor and the voltage sensor (ie, the electrodes 104 ). Typically, amplification, filtering, and analog-to-digital conversion are performed. Only in terms of the positioning function that needs to be realized in the present invention, the data that the data acquisition unit 30 needs to collect at each sampling moment has:
  • Magnetic field strength data at each magnetic field sensor (including the first magnetic field sensor 103P and the second magnetic field sensor 103Q);
  • described positioning system also comprises a communication control unit 50, is used for connecting controller 40 and excitation control unit 20, data acquisition unit 30, magnetic field generation unit 10, to control controller 40 and magnetic field generation unit 10 , communication and data transmission between the excitation control unit 20 and the data acquisition unit 30 .
  • the communication control unit 50 is a "transfer station" for signal and data transmission, and the transmission method can choose wired methods such as serial port, serial peripheral interface (Serial Peripheral Interface, SPI), I 2 C, network port and USB, or wifi and wireless methods such as Bluetooth.
  • the communication control unit 50 may also be used to connect other equipment, such as radio frequency ablation equipment, CT equipment, MRI equipment, electrocardiograph and other commonly used equipment in surgery.
  • the controller 40 generally a general-purpose computer, is the core of system control and data processing. It can control the operation of the system through the communication control unit 50.
  • the controller 40 is specifically used to divide the target area into multiple sub-areas.
  • the controller 40 also has the following functions:
  • each magnetic field sensor comprising the first magnetic field sensor 103P and the second magnetic field sensor 103Q
  • each electrode 104 comprising the first electrode 104S and the second electrode 104T
  • Controller 40 typically uses software programming to perform the functions described above.
  • the software can be downloaded to a computer or used via the Internet.
  • a memory may also be set in the controller 40 for storing various sensor data and related data during the positioning process.
  • the positioning system further includes a display unit 108 , which is generally a display, which may be a CRT or LCD.
  • the display unit 108 is communicatively connected with the controller 40, and is used to display the position, direction, shape and/or movement track of the application instrument of the interventional device 105 in the target object 100, wherein the interventional device
  • the position, direction, shape and/or the movement trajectory of the application tool 105 in the target object 100 is determined by the controller 40 according to the positioning result of the third position.
  • the three-dimensional space model of the target object 100 can be constructed in advance during the operation, so that after the spatial position of the third site is located, the application catheter can be simulated according to the spatial position of the third site, and then determined The position, direction, and shape of the application catheter in the target object 100. Further, since the position, direction, and shape of the application catheter in the target object 100 are determined at each sampling moment, it can be further determined The movement track of the application catheter in the target object 100 .
  • the display unit 108 shows a three-dimensional body cavity model 109 , and the end model 110 of the applied catheter in the body cavity drawn based on the positioning result of the controller 40 .
  • the display unit 108 can also be used to display the position, direction, shape and/or the movement track of the learning appliance in the target object 100, and the learning appliance is in the target object 100
  • the position, direction, shape and/or the movement trajectory of the are determined by the controller 40 according to the positioning results of the first position and the second position.
  • Figure 2 schematically shows a schematic diagram of the use flow of the positioning system provided by the present invention.
  • the use flow of the positioning system specifically includes the following steps:
  • Step S110 At the beginning of the operation, a magnetic field and a multi-axis electric field are applied to the human body, and the target area 101 is divided into multiple sub-areas 1011 (see FIG. 5 ).
  • a magnetic field is applied through the magnetic field generating unit 10
  • a multi-axis electric field is generated by attaching multiple electrode patches 102 on the surface of the target object 100 and applying different current excitations between two electrode patches 102.
  • Constant current excitation can be selected.
  • Constant voltage excitation can also be selected.
  • the reason for dividing the target area 101 into multiple sub-areas 1011 is that the electric field in the body as a whole has a nonlinear distribution, but the electric field in a small local area can be approximately considered to be linear. In the divided sub-regions, when the electric field is linear, the relationship between the voltage and the distance is linear, and the linear fitting calculation at this time is meaningful.
  • the following process involves two stages, the fitting stage and the positioning stage, in which the learning catheter is operated in the fitting stage, and the application catheter is operated in the positioning stage.
  • Learning catheters and application catheters only differentiate catheters functionally, and in fact the same catheter may be used in both the fitting and positioning phases.
  • the fitting phase starts before the localization phase, but allows both phases to run concurrently for part of the time.
  • the fitting phase may begin after the study catheter is delivered through the vascular access into the target region 101 (eg, a heart chamber).
  • At least one first magnetic field sensor 103P and at least one first electrode 104S are integrated on the learning catheter, and the distance between them is fixed, and the distance information is known, so that the position and direction information of the first magnetic field sensor 103P And the distance information between the two is calculated to obtain the position information of the first electrode 104S.
  • Step S120 Place the learning catheter into the target area 101 (eg heart cavity) and roam through each sub-area 1011 .
  • Step S130 During this period, continuously and synchronously measure the following data:
  • the reference position generally selects a relatively fixed position, which can be on the body surface or a certain position in the cardiac cavity (generally in the coronary sinus).
  • the voltage is a voltage in response to the aforementioned various excitation states;
  • Magnetic field strength information at the second magnetic field sensor 103Q on each electrode patch 102 After the magnetic field strength information is sent to the controller 40, it will be used to calculate the spatial position information of the second magnetic field sensor 103Q at each moment (that is, the spatial position information of the corresponding electrode patch 102).
  • Step S140 While collecting data, the controller 40 will constantly judge whether sufficient data has been accumulated based on subsequent calculation requirements. If the amount of data is not enough, the roaming state of the learning conduit needs to be kept until the amount of data is enough, and then the display unit 108 will prompt the operator to stop the fitting phase. The judgment method can choose to set a fixed operating time, or it can be prompted to stop after the fitting error is reduced to a certain level through continuous trial fitting.
  • Step S150 After accumulating sufficient data, start the positioning phase.
  • the application catheter is placed into the target area 101 (for example, the heart chamber), and the voltage information at each second electrode 104T on the application catheter relative to the reference position is measured.
  • Step S160 The controller 40 calculates the spatial position of each second electrode 104T at each moment according to the voltage value at each second electrode 104T at each moment, and the specific calculation method will be developed later.
  • the reference position and the position of each electrode patch 102 for applying excitation must remain relatively stable. If some operation in the middle (such as turning the patient over) causes the displacement of the electrode patch 102 to exceed a certain threshold, the fitting phase must be restarted.
  • the magnetic field is generated by the magnetic field generating unit 10, and the electric field is generated by applying constant current excitation/constant voltage excitation to the electrode patch 102 on the body surface;
  • each sub-area 1011 the voltage data measured at the first electrode 104S (electrode with known position) and the voltage data obtained from the first electrode 104S to the electrode sticker
  • the distance relationship of the slice 102 is fitted to obtain a fitting model for describing the mapping relationship between voltage and distance for each sub-region 1011;
  • Step S210 Divide the target area 101 (for example, the heart chamber) into a plurality of sub-areas 1011 .
  • Step S220 Place the learning catheter equipped with the first magnetic field sensor 103P and the first electrode 104S into the target area 101 (such as the heart cavity) and roam through each sub-area 1011, and collect the first magnetic field sensor 103P, the second The magnetic field strength data at two magnetic field sensor 103Q places and the voltage data at first electrode 104S place; According to the magnetic field strength data at the first magnetic field sensor 103P place, calculate the position and direction at the first magnetic field sensor 103P place, according to the position at the second magnetic field sensor 103Q place Calculate the position at the second magnetic field sensor 103Q according to the magnetic field intensity data; calculate the position of the first electrode 104S according to the position and direction of the first magnetic field sensor 103P and the distance between the first magnetic field sensor 103P and the first electrode 104S, and then calculate the position of the first electrode 104S according to the first electrode 104S position and the position of each second magnetic field sensor 103Q (that is, the position of each electrode patch 102), calculate the distance from the first electrode
  • Step S230 In each sub-region 1011, for each electrode patch 102, the voltage data collected at the first electrode 104S and the distance relationship between the first electrode 104S and the electrode patch 102 in all related excitation states Fitting is performed to obtain several fitted models.
  • the fitting model is used to describe the relationship between the voltage data relative to the reference position and the distance from the electrode 104 to the electrode patches 102 on the body surface at each position where the electrode 104 has roamed in each excitation state in a sub-region 1011. relation. Assuming that there are M electrode patches 102 on the body surface of the target subject, and any two of the M electrode patches 102 are used to apply excitation, then for a certain electrode patch 102, the electrode patch 102 There are M-1 related excitation states.
  • the fitting method preferably uses a linear fitting method, and more preferably uses a least squares linear fitting method. It should be noted that, as those skilled in the art can understand, in some other embodiments, other fitting methods other than the linear fitting method can also be selected, and the present invention is not limited to this.
  • Step S240 For a certain second electrode 104T to be positioned on the application catheter, for a certain electrode patch 102, based on several fitting models corresponding to the electrode patch 102 in the sub-area 1011 where the application catheter is located and the The voltage value at the second electrode 104T calculates the distance from the second electrode 104T to the electrode patch 102 .
  • a fitting model that satisfies the first preset condition can be selected as the target fitting model, and the first fitting model can be calculated according to the target fitting model.
  • the distance between the second electrode 104T and the electrode patch 102 can be selected from the M-1 fitting models to participate in the calculation.
  • multiple fitting models may also be used simultaneously for weight calculation.
  • Step S250 Calculate the position of the second electrode 104T based on the distance from the second electrode 104T to be positioned to each electrode patch 102 .
  • the position of the second electrode 104T can be calculated based on the distance between the second electrode 104T and each of the electrode patches 102 , that is, all the electrode patches 102 can be selected to participate in the calculation. It is also possible to select at least three electrode patches 102 satisfying the second preset condition from all electrode patches 102 as target electrode patches, and according to the distance between the second electrode 104T and each of the target electrode patches, distance to calculate the position of the second electrode 104T. For example, at least three electrode patches 102 with high data stability or good adhesion may be selected from all the electrode patches 102 to participate in the calculation.
  • the learning catheter equipped with the first magnetic field sensor 103P and the first electrode 104S into the heart cavity and roam for a period of time; at each sampling moment, the magnetic field strength data at the first magnetic field sensor 103P and the voltage at the first electrode 104S are collected synchronously Data; calculate the position and direction at the first magnetic field sensor 103P according to the magnetic field intensity data at the first magnetic field sensor 103P; The location of an electrode 104S.
  • the application catheter may include a fourth point and a fifth point, so that during the positioning phase, the data collection unit 30 may also collect synchronously at each sampling moment The magnetic field strength information of the fourth site, and the voltage information of the fifth site relative to the reference position under all excitation states.
  • the controller 40 calculates the spatial location information of the fifth location according to the spatial location and direction information of the fourth location and the spatial distance between the fourth location and the fifth location, And according to the spatial position information of the fifth site and the spatial position information of the electrode patch, calculate the distance information between the fifth site and the electrode patch, and calculate the distance information between the fifth site and the electrode patch, and combine the The voltage information of the fifth position relative to the reference position and the distance information between the fifth position and the electrode patch form a second type of voltage-distance data pair, and use the second type of voltage - Updating the fitting model of the corresponding sub-region of the distance data pair. It should be noted that, as those skilled in the art can understand, in the positioning phase, at each sampling moment, the controller can obtain the application device according to the spatial position and direction information of the fourth position. Information about the sub-area where it is located.
  • the above-mentioned learning conduit and the application conduit are the same conduit, that is to say, the above-mentioned fourth point and the first point actually refer to the same point, and the above-mentioned fifth point and the second point actually refer to the same point. refers to the same point, then the controller 40 will continuously acquire new voltage-distance data pairs (that is, the second type of voltage-distance data pairs) during the positioning phase, and can also participate in the fitting calculation.
  • the controller 40 will continuously acquire new voltage-distance data pairs (that is, the second type of voltage-distance data pairs) during the positioning phase, and can also participate in the fitting calculation.
  • the application catheter and the learning catheter are not the same catheter, but the first magnetic field sensor 103P is set at the fourth position on the application catheter, and the first electrode 104S is set at the fifth position, so that the controller 40 will also continuously Acquire a new voltage-distance data pair (that is, the second type of voltage-distance data pair).
  • the following three processing methods can be used, and the third method is preferably used:
  • the voltage data is directly measured by the first electrode 104S, and the distance data refers to the distance between the first electrode 104S and the electrode patch 102.
  • Spatial distance information wherein the position information of the first electrode 104S is calculated based on the position of the first magnetic field sensor 103P and the physical distance information between the first magnetic field sensor 103P and the first electrode 104S. Therefore, it can be considered that the fitted model calculated based on the two kinds of data also describes the true correspondence between the two kinds of data.
  • the controller 40 can also use the voltage information of the third point relative to the reference position and the voltage between the third point and the electrode patch 102 under different excitation states.
  • the distance information forms the third type of voltage-distance data pair, and filters out effective data pairs from the third type of voltage-distance data pairs, and uses the effective data pairs to update the fitting of the corresponding sub-region 1011 Model.
  • the positioning results based on the fitting model at the second electrode 104T can form new voltage-distance data pairs (that is, the third type of voltage-distance data pairs).
  • the voltage-distance data pair at the two electrodes 104T is also added to the fitting calculation of the sub-region 1011, if the fitting error of the sub-region 1011 can be reduced, it is a valid data pair, otherwise it is an invalid data pair), after the valid data pair It will also participate in the calculation update of the fitted model.
  • the spatial coordinates of any position can be calculated based on the information of the limited position (the position where the learning catheter has roamed) in the target area 101 (such as the heart cavity) to be positioned (only by measuring The voltage data at the arbitrary position is sufficient), so that the positioning and tracking of the device to be positioned (catheter) in the target area 101 (eg, cardiac cavity) can be completed.
  • the above-mentioned positioning system will be further explained below by taking a ring catheter as an example, and the ring catheter is used as a learning catheter and an application catheter at the same time.
  • FIG. 4a schematically shows the structure schematic diagram of the adjustable loop catheter provided by an embodiment of the present invention
  • Fig. 4b schematically shows the A schematic diagram of the distribution of the sensors
  • FIG. 4c schematically shows a schematic diagram of the positioning results of the annular catheter at a certain moment.
  • the annular catheter has a rod and a ring structure, and the rod of the annular catheter is distributed with two first electrodes 104S1 and 104S2 (ie, the second site) and A first magnetic field sensor 103P (that is, the first position), and another 10 second electrodes 104T are distributed on the ring, marked as 104T1, 104T2...
  • the first magnetic field sensor 103P The spatial distances from the first electrodes 104S1 and 104S2 are both fixed and known, and are denoted as d' 104S1 and d' 104S2 respectively.
  • the electrodes to be positioned can be realized through limited known information (the position of the first magnetic field sensor 103P, and the spatial distance between the first magnetic field sensor 103P and the first electrodes 104S1 and 104S2). The positioning of the 10 second electrodes 104T).
  • the loop catheter was entered into the right atrium through vascular access, and a decathode catheter was placed in the coronary sinus, using the upper electrode as a reference electrode, and the decathode catheter was kept from moving throughout the procedure.
  • electrode patches 102 are attached to six positions (R, L, H, F, C, and B) on the body surface, and each electrode patch 102 is equipped with a second magnetic field sensor 103Q.
  • excitation axis for example, apply a constant current source of 1mA
  • excitation axes RL, HF, CB, CR, CL, CH, CF, RB, LB , HB, FB, RF, LF, HR and HL.
  • the end of the catheter is moved around in the right atrium to each sub-region by operating the handle 106, and the following data are collected at each sampling moment:
  • the controller 40 calculates its position coordinates and direction vectors based on the magnetic field strength at the first magnetic field sensor 103P, and calculates its position coordinates based on the magnetic field strength at the second magnetic field sensor 103Q.
  • the spatial position and unit direction vector of the first magnetic field sensor 103P in Figure 4b can be calculated from the magnetic field strength information measured by the first magnetic field sensor 103P, assuming that the spatial position It is denoted as P 103 , the unit direction vector is denoted as D 103 , and the direction is directed from the first electrode 104S1 to the first electrode 104S2.
  • the position P 104S1 of the first electrode 104S1 can be calculated as:
  • the position P 104S2 of the first electrode 104S2 is:
  • d' 104S1 represents the spatial distance between the first electrode 104S1 and the first magnetic field sensor 103P
  • d' 104S2 represents the spatial distance between the first electrode 104S2 and the first magnetic field sensor 103P.
  • each electrode patch 102 has position information (provided by the second magnetic field sensor 103Q at each electrode patch 102), so that the current sampling time 104S1 and 104S2 respectively to the six electrode patches 102 can be calculated distance.
  • 104S1 is used as an example in the following calculations.
  • the information at the two first electrodes 104S can participate in the fitting calculation.
  • each voltage is a 15 ⁇ 1 vector, corresponding to the voltage values in 15 excitation states.
  • the first electrode 104S1 has five kinds of voltages v1, v2, . . . v5 in the five excitation states. In this way, five voltage-distance data pairs can be formed.
  • FIG. 5 schematically shows the division of the target area.
  • the cardiac cavity to be located (target area 101 ) is divided into multiple sub-areas 1011 , while ensuring that the learning catheter roams through as many sub-areas 1011 as possible.
  • the learning catheter roams through a moving trajectory 111 in each sub-area 1011, during which voltage-distance data pairs are continuously accumulated.
  • the least squares linear fitting is performed on the voltage-distance data pairs accumulated in the sub-region 1011, and a total of 30 fitting models can be obtained.
  • FIG. 6a to 6e schematically show the scatter diagrams of five voltage-distance data pairs accumulated in a certain sub-region in a certain fitting stage, corresponding to five excitation states respectively.
  • the horizontal axis is the voltage value collected at the first electrode 104S1 in a certain excitation state
  • the vertical axis is the distance from the first electrode 104S1 to the electrode patch 102H.
  • the positioning calculation process of the second electrode 104T1 includes:
  • the position information of the second electrode 104T1 can be calculated by using the triangulation method .
  • FIG. 7 schematically shows the distance between the second electrode 104T1 (second position) and each electrode patch 102 .
  • the position coordinates of each electrode patch 102 are:
  • the distances from the second electrode 104T1 to be positioned to each electrode patch 102 are d 1 , d 2 . . . d 6 .
  • FIG. 4c shows the form of the annular conduit on the display unit 108 at a certain moment.
  • catheters drawn in Figures 4a to 4c are only used for clarity of description.
  • the present invention is not limited to the shapes in 4a to 4c, and can also be applied to catheters of other shapes such as balloons or baskets, etc. .
  • the fitting method used in the example is the least squares linear fitting, as long as the voltage data (measured by a certain first electrode 104S in response to a certain excitation state) is established first A fitting model of the distance data between an electrode 104S and the electrode patches 102 used to apply excitation, and then calculate the distance from the second electrode 104T to be positioned to at least three electrode patches 102 based on the fitting model, and then pass these distances.
  • the method of calculating the position of the second electrode 104T based on the information is within the protection scope of the present invention.
  • the present invention can also be applied to other scenarios, such as neurological surgery, tumor Ablation, pulmonary angioplasty and other surgical scenarios that require interventional or implanted devices for invasive diagnosis or treatment.
  • the present invention Based on the fact that the electric field is approximately linear in a local small area, the present invention divides the area to be positioned (that is, the target area) into multiple sub-regions, and then establishes multiple fitting models for each sub-region to realize positioning. Since most of the calculations involved in the present invention are linear, it can not only reduce the calculation overhead, but also greatly save the operation time of using the learning catheter in the early stage.
  • the present invention also provides an interventional operation system, including the above-mentioned positioning system for an interventional device and the interventional device.
  • the interventional device may be a loop catheter, a balloon catheter or a basket catheter or the like.
  • the present invention also provides a positioning method of the interventional device, the interventional device includes a learning tool and an application tool, and the learning tool and the application tool are used to place the target object In the target area, the positioning method includes:
  • the magnetic field strength information of the first point on the learning appliance and the magnetic field strength at at least three electrode patches set on the surface of the target object that are collected synchronously in each sub-region are acquired Information, the voltage information of the second point on the learning appliance relative to a reference position under all excitation states, according to the magnetic field strength information of the first point and the relationship between the first point and the second
  • the spatial distance information between the points is used to calculate the spatial position information of the second point, and according to the voltage information of the second point relative to the reference position under different excitation states and the relationship between the second point and the
  • the distance information between the electrode patches is obtained to obtain a fitting model for describing the mapping relationship between voltage and distance for each of the sub-regions;
  • the voltage information of the third point on the application instrument relative to the reference position, the information of the sub-region where the application instrument is located, and the space of the electrode patch that are synchronously collected under different excitation states are obtained
  • Position information using the fitting model of the corresponding sub-region and the spatial position information of the electrode patch to calculate the spatial position information of the third site, wherein the spatial position information of the electrode patch is based on the The magnetic field strength information at the electrode patch is calculated.
  • the spatial position information of the second site is firstly calculated from the magnetic field strength information of the first site to obtain the spatial position and direction of the first site Information, and then calculated according to the spatial position and direction information of the first site and the spatial distance information between the first site and the second site, the second site and the electrode sticker
  • the distance information between the slices is calculated according to the spatial position information of the second site and the spatial position information of the electrode patches.
  • the voltage information of the second site relative to the reference position and the distance between the second site and the electrode patch in different excitation states Information to obtain a fitting model for describing the mapping relationship between voltage and distance of each sub-region, including: the voltage information of the second site in different excitation states relative to the reference position and the The distance information between the second site and the electrode patch forms the first type of voltage-distance data pair, and is fitted to obtain the voltage-distance data pair used to describe the voltage-distance under different excitation states in each of the sub-regions.
  • a fitted model for the mapping relationship between distances is
  • the voltage information of the second site relative to the reference position and the distance between the second site and the electrode patch in different excitation states Information to obtain a fitting model for describing the mapping relationship between voltage and distance of each sub-region, including: for each of the electrode patches, the different excitation states related to the electrode patch
  • the voltage information of the second site relative to the reference position and the distance information between the second site and the electrode patch form a first type of voltage-distance data pair, and are fitted to obtain In each of the sub-regions, a fitting model of each of the electrode patches in different excitation states associated therewith.
  • the calculating the spatial position information of the third site by using the fitting model of the corresponding sub-region and the spatial position information of the electrode patch includes: using the corresponding sub-region The fitting model corresponding to the electrode patch in the area is calculated to obtain the distance information between the third site and the electrode patch; according to the distance between the third site and the electrode patch information and the spatial position information of the electrode patch, and calculate the spatial position information of the third site.
  • the calculation of the distance information between the third site and the electrode patch by using the fitting model corresponding to the electrode patch in the corresponding sub-region includes:
  • the calculating the spatial position information of the third site by using the fitting model of the corresponding sub-region and the spatial position information of the electrode patch includes:
  • the calculation of the distance information between the third site and each of the target electrode patches by using the fitting model of the corresponding sub-region includes:
  • the distance information between the third site and the target electrode patch is calculated by using the fitting model corresponding to the target electrode patch corresponding to the sub-region.
  • the calculation of the distance information between the third site and the target electrode patch by using the fitting model corresponding to the target electrode patch in the corresponding sub-region includes:
  • the distance information between the third site and the target electrode patch is calculated by using the target fitting model of the target electrode patch corresponding to the sub-region.
  • the application tool also includes a fourth point
  • the positioning method also includes:
  • the magnetic field strength information of the fourth point is obtained, and the spatial position and direction information of the fourth point is calculated according to the magnetic field strength information of the fourth point, and according to the fourth point
  • the spatial position and direction information of the application appliance is obtained to obtain the information of the sub-area where the appliance is located.
  • the application tool also includes a fifth point
  • the positioning method also includes:
  • the voltage information of the fifth position relative to the reference position that is synchronously collected under all excitation states is obtained, and according to the spatial position and direction information of the fourth position and the relationship between the fourth position and the calculating the spatial position information of the fifth position based on the spatial distance information between the fifth positions, and calculating the The distance information between the fifth position and the electrode patch, and the voltage information of the fifth position relative to the reference position under different excitation states and the distance between the fifth position and the electrode patch
  • the distance information between slices forms a second type of voltage-distance data pair, and the fitting model of the corresponding sub-region is updated using the second type of voltage-distance data pair.
  • the positioning method also includes:
  • the present invention also provides an electronic device, please refer to FIG. 8 , which schematically shows a block structure diagram of the electronic device provided by an embodiment of the present invention.
  • the electronic device includes a processor 301 and a memory 303, and a computer program is stored on the memory 303.
  • the computer program is executed by the processor 301, the above-mentioned interventional device is realized. positioning method.
  • the electronic device further includes a communication interface 302 and a communication bus 304 , wherein the processor 301 , the communication interface 302 , and the memory 303 communicate with each other through the communication bus 304 .
  • the communication bus 304 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus or the like.
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the communication bus 304 can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
  • the communication interface 302 is used for communication between the electronic device and other devices.
  • the processor 301 mentioned in the present invention can be a central processing unit (Central Processing Unit, CPU), and can also be other general processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor, etc.
  • the processor 301 is the control center of the electronic device, connecting various parts of the entire electronic device with various interfaces and lines.
  • the memory 303 can be used to store the computer program, and the processor 301 implements various functions of the electronic device by running or executing the computer program stored in the memory 303 and calling the data stored in the memory 303. Function.
  • the memory 303 may include non-volatile and/or volatile memory.
  • Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM Static RAM
  • DRAM Dynamic RAM
  • SDRAM Synchronous DRAM
  • DDRSDRAM Double Data Rate SDRAM
  • ESDRAM Enhanced SDRAM
  • SLDRAM Synchronous Chain Synchlink DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM
  • the present invention also provides a readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the method for locating the interventional device described above can be realized.
  • the readable storage medium in the embodiment of the present invention may use any combination of one or more computer-readable media.
  • the readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connection with one or more wires, portable computer hard disk, hard disk, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • the positioning system, positioning method, interventional operation system, electronic equipment and storage medium of the interventional device provided by the present invention have the following advantages: the present invention divides the target area into multiple sub-areas, And in the fitting stage, a learning tool is used to obtain a fitting model for describing the mapping relationship between voltage and distance for each sub-region.
  • the present invention divides the target area into a plurality of sub-areas, and establishes a fitting model for each sub-area respectively. Since the electric field is linear in a local small area, through these fitting models, the first The distance between the three points and the electrode patch, and then realize the positioning calculation. In addition, since the present invention establishes a fitting model for each sub-region separately, the amount of calculation for fitting is small, which can effectively reduce the amount of calculation and save time and cost.
  • the computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++ , also includes conventional procedural programming languages - such as the "C" language or similar programming languages.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via an Internet connection using an Internet service provider). ).
  • LAN local area network
  • WAN wide area network
  • Internet service provider e.g., via an Internet connection using an Internet service provider
  • each block in a flowchart or block diagram may represent a module, a program segment, or a portion of code that includes one or more programmable components for implementing specified logical functions.
  • Executable instructions, the module, program segment or part of the code contains one or more executable instructions for realizing the specified logic function.
  • the functions noted in the block may occur out of the order noted in the figures.
  • each block in the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in special purpose hardware-based systems that perform the specified functions or actions. implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • the functional modules in the various embodiments herein can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

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  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Biophysics (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

Système de positionnement et procédé pour un appareil d'intervention, système de chirurgie interventionnelle, dispositif électronique et support de stockage. Le système de positionnement comprend une unité de génération de champ magnétique (10), une unité de commande d'excitation (20), une unité d'acquisition de données (30) et un dispositif de commande (40). Une région cible (101) est divisée en une pluralité de sous-régions (1011), et un outil d'apprentissage est utilisé dans un stade d'ajustement de sorte qu'un modèle d'ajustement de chaque sous-région (1011) utilisé pour décrire une relation de mappage entre les tensions et les distances est obtenu. Ensuite, dans un stade de positionnement, la distance entre un troisième site sur un outil d'application et un timbre d'électrode (102) est obtenue sur la base du modèle d'ajustement de la sous-région (1011) où l'outil d'application est situé et la position du troisième site peut être obtenue en fonction de la distance entre le troisième site et le timbre d'électrode (102) et des informations de position spatiale du timbre d'électrode (102). La région cible (101) est divisée en une pluralité de sous-régions (1011) et un modèle d'ajustement est établi pour chaque sous-région (1011) respectivement. Dans la mesure où un champ électrique est linéaire dans une petite plage locale, le calcul de positionnement peut être atteint de manière plus appropriée à l'aide des modèles d'ajustement.
PCT/CN2022/101428 2021-08-31 2022-06-27 Système de positionnement, procédé de positionnement, système de chirurgie interventionnelle, dispositif électronique et support de stockage WO2023029695A1 (fr)

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